CA2508157A1 - Handling apparatus - Google Patents
Handling apparatus Download PDFInfo
- Publication number
- CA2508157A1 CA2508157A1 CA002508157A CA2508157A CA2508157A1 CA 2508157 A1 CA2508157 A1 CA 2508157A1 CA 002508157 A CA002508157 A CA 002508157A CA 2508157 A CA2508157 A CA 2508157A CA 2508157 A1 CA2508157 A1 CA 2508157A1
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- Prior art keywords
- handling apparatus
- jaws
- elongate
- link
- relative
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- 230000007246 mechanism Effects 0.000 claims description 52
- 239000012530 fluid Substances 0.000 claims description 2
- 230000000717 retained effect Effects 0.000 description 3
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 125000006850 spacer group Chemical group 0.000 description 2
- 235000010627 Phaseolus vulgaris Nutrition 0.000 description 1
- 244000046052 Phaseolus vulgaris Species 0.000 description 1
- 210000005056 cell body Anatomy 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
- E21B19/15—Racking of rods in horizontal position; Handling between horizontal and vertical position
- E21B19/155—Handling between horizontal and vertical position
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Manipulator (AREA)
Abstract
A handling apparatus comprising:
a base unit;
a first elongate support pivotally coupled at a first and to the base units;
a second elongate support pivotally coupled at a first end to the base unit;
a head assembly for releasably retaining an elongate member, said head assembly being supported, in use, by the first and second elongate supports;
wherein the first and second elongate supports are pivotally coupled to the head assembly at respective second ends thereof; and whereby the first and second elongate supports can pivot relative to the base unit whilst remaining substantially mutually parallel with at least part of the head unit maintained in a substantially constant orientation.
a base unit;
a first elongate support pivotally coupled at a first and to the base units;
a second elongate support pivotally coupled at a first end to the base unit;
a head assembly for releasably retaining an elongate member, said head assembly being supported, in use, by the first and second elongate supports;
wherein the first and second elongate supports are pivotally coupled to the head assembly at respective second ends thereof; and whereby the first and second elongate supports can pivot relative to the base unit whilst remaining substantially mutually parallel with at least part of the head unit maintained in a substantially constant orientation.
Description
HANDLING APPARATUS
FIELD OF THE INVENTION
The present invention relates to a handling apparatus and especially but not exclusively to a handling apparatus for drill rods.
BACKGROUND
There are a number of difficulties associated with powered equipment for handling drill rods, including lack of space at some mast locations, adequately accurately orientating the drill rods for insertion into a drill string or placement on a drill rod stand, and stable and secure handling of drill rods of considerable length and mass.
It would be desirable if at least preferred embodiments of at least soma aspects of the invention could mitigate one or more of these difficulties.
SUi~IARY OF THE INVENTION
According to a first aspect of the present invention there is provided a handling apparatus comprising:
a base unit;
a first elongate support pivotally coupled at a first end to the base unit;
a second elongate support pivotally coupled at a first end to the base unit;
a head assembly for releasably retaining an elongate member, said head assembly being supported, in use, by the first and second elongate supports;
wherein the first and second elongate supports are pivotally coupled to the head assembly at respective second ands thereof; and whereby the first and second elongate supports can pivot relative to the base unit whilst remaining substantially mutually parallel with at least part of the head unit maintained in a substantially constant orientation.
Preferably the first and second supports are substantially co-planar.
Preferably the first and second supports are, in use, provided in a substantially vertical plane.
Preferably there is provided a driving mechanism for forcing the first and second supports to pivot relative to the base unit.
The driving mechanism may force one of the first and second supports, which in turn forces the other support.
The head preferably includes a first head portion which is pivotally coupled to the second ends of the first and second supports.
The head preferably includes a second head portion which is selectively orientable relative to the first head portion.
Preferably there is provided a driving mechanism for orientating the second head portion relative to the first head portion.
The second head portion preferably supports one or more clamping mechanisms for clamping onto an elongate member.
Preferably the one or each clamping mechanism comprises a pair of jaws.
Preferably the handling apparatus is for handling elongate members which are drill rods.
Preferably the handling apparatus further comprises at least one pair of jaws for gripping an elongate member to be handled, said pair of jaws being operable between a more open configuration and a more closed configuration by a driven member moveable between a first position and a second position, wherein the relative motion of the jaws between the more open configuration and the more closed configuration is substantially in a plane, and the direction of movement of the driven member between the first and second positions is substantially perpendicular to said plane.
According to a second aspect of the present invention there is provided a handling apparatus for handling elongate members comprising:
a base units at least one support member extending from the base unit, the at least one support member being pivotally attached to the base unit at a first end of said at least one support member; and a head assembly comprising a retaining mechanism for releasably retaining elongate members;
wherein the head assembly includes a first link for attachment between the at least one support member and the retaining mechanism, said first link being pivotably coupled with respect to the retaining mechanism and the at least one support member.
Preferably the handling apparatus further comprising a second link between the first link and the retaining mechanism, said second link being pivotally coupled to the first link and the retaining mechanism.
Provision of serial first and second links between the support member and the retaining mechanism helps provide a wide range of possible orientations for the retaining mechanism relative to the at least one support member facilitating capture of elongate members in a wide range of orientations.
Preferably there are provided at least two support members, each pivotally coupled to the base unit.
Preferably the at least two support members are pivotally coupled to the first link member.
Preferably the at least two support members are arranged to remain substantially mutually parallel during use of the apparatus.
A locking mechanism for preventing pivotal movement of the second link relative to the first link may be provided.
The locking mechanism may comprise a locking member adapted to prevent relative movement of adjacent portions of the first and second links.
FIELD OF THE INVENTION
The present invention relates to a handling apparatus and especially but not exclusively to a handling apparatus for drill rods.
BACKGROUND
There are a number of difficulties associated with powered equipment for handling drill rods, including lack of space at some mast locations, adequately accurately orientating the drill rods for insertion into a drill string or placement on a drill rod stand, and stable and secure handling of drill rods of considerable length and mass.
It would be desirable if at least preferred embodiments of at least soma aspects of the invention could mitigate one or more of these difficulties.
SUi~IARY OF THE INVENTION
According to a first aspect of the present invention there is provided a handling apparatus comprising:
a base unit;
a first elongate support pivotally coupled at a first end to the base unit;
a second elongate support pivotally coupled at a first end to the base unit;
a head assembly for releasably retaining an elongate member, said head assembly being supported, in use, by the first and second elongate supports;
wherein the first and second elongate supports are pivotally coupled to the head assembly at respective second ands thereof; and whereby the first and second elongate supports can pivot relative to the base unit whilst remaining substantially mutually parallel with at least part of the head unit maintained in a substantially constant orientation.
Preferably the first and second supports are substantially co-planar.
Preferably the first and second supports are, in use, provided in a substantially vertical plane.
Preferably there is provided a driving mechanism for forcing the first and second supports to pivot relative to the base unit.
The driving mechanism may force one of the first and second supports, which in turn forces the other support.
The head preferably includes a first head portion which is pivotally coupled to the second ends of the first and second supports.
The head preferably includes a second head portion which is selectively orientable relative to the first head portion.
Preferably there is provided a driving mechanism for orientating the second head portion relative to the first head portion.
The second head portion preferably supports one or more clamping mechanisms for clamping onto an elongate member.
Preferably the one or each clamping mechanism comprises a pair of jaws.
Preferably the handling apparatus is for handling elongate members which are drill rods.
Preferably the handling apparatus further comprises at least one pair of jaws for gripping an elongate member to be handled, said pair of jaws being operable between a more open configuration and a more closed configuration by a driven member moveable between a first position and a second position, wherein the relative motion of the jaws between the more open configuration and the more closed configuration is substantially in a plane, and the direction of movement of the driven member between the first and second positions is substantially perpendicular to said plane.
According to a second aspect of the present invention there is provided a handling apparatus for handling elongate members comprising:
a base units at least one support member extending from the base unit, the at least one support member being pivotally attached to the base unit at a first end of said at least one support member; and a head assembly comprising a retaining mechanism for releasably retaining elongate members;
wherein the head assembly includes a first link for attachment between the at least one support member and the retaining mechanism, said first link being pivotably coupled with respect to the retaining mechanism and the at least one support member.
Preferably the handling apparatus further comprising a second link between the first link and the retaining mechanism, said second link being pivotally coupled to the first link and the retaining mechanism.
Provision of serial first and second links between the support member and the retaining mechanism helps provide a wide range of possible orientations for the retaining mechanism relative to the at least one support member facilitating capture of elongate members in a wide range of orientations.
Preferably there are provided at least two support members, each pivotally coupled to the base unit.
Preferably the at least two support members are pivotally coupled to the first link member.
Preferably the at least two support members are arranged to remain substantially mutually parallel during use of the apparatus.
A locking mechanism for preventing pivotal movement of the second link relative to the first link may be provided.
The locking mechanism may comprise a locking member adapted to prevent relative movement of adjacent portions of the first and second links.
The said adjacent portions of the first and second links are preferably spaced apart from the pivotable coupling of the first and second links.
The said adjacent portions of the first and second links may define respective apertures.
The locking member may be adapted to be retained in said apertures.
The apparatus preferably further comprises a support driving mechanism for forcing relative pivotal movement of the at least one support and the base unit.
The apparatus preferably further comprises a retaining-mechanism driving mechanism for forcing relative pivotal movement of the retaining mechanism relative to the support.
The retaining-mechanism driving mechanism preferably comprises a first driving element for forcing relative pivotal movement of the second link relative to the first link, and a second driving element for forcing relative pivotal movement of the retaining mechanism relative to the second link.
The driving mechanisms and/or driving elements preferably comprise hydraulic pistons. However, as an alternative, other driving mechanisms or elements could be used as one or more driving mechanisms and/or elements.
The retaining mechanism preferably comprises an elongate frame.
Preferably, in use, the elongate frame is adapted to be at a fixed angle relative to an elongate member being retained by the retaining mechanism.
Preferably, in use, the elongate frame is adapted to be substantially parallel to an elongate member being retained by the retaining mechanism.
In a preferred embodiment which includes first and second supports, adapted to remain substantially mutually parallel, the second link may be pivotally locked relative to the first link, and the orientation of the first link is maintained constant during pivoting of the . CA 02508157 2005-05-25 support members due to the four-bar linkage formed by the base unit, support members and first link. This means that the orientation of the second link is constant even when the second link, and the retaining mechanism, are being moved laterally relative to the base unit. Thus, the orientation of the elongate frame of the retaining mechanism is determined by the relative orientation of the elongate frame and the second link. Thus one or more stops or limiters may be provided on the second link to define the extremes of the orientation of the elongate frame. This can be of considerable utility since in, for example, a situation where elongate members are to be picked up from a rack where they are to be provided by the apparatus at 30 degrees to the vertical, the steps or limiters can be sat to define appropriate angles of the elongate frame. This helps eliminate operator error and greatly facilitates handling elongate members.
In a preferred embodiment at least one pair of jaws is provided to grip elongate members.
The jaws are preferably moveable parallel to the elongate frame. This allows proper positioning of elongate members in, for example, a preferred embodiment in which the height at which the elongate frame is positioned varies as the elongate frame is moved laterally towards or away from the base unit.
Preferably the base unit is rotatable.
Preferably the base unit is rotatable about a substantially vertical axis.
Preferably the base unit is provided with a frame or track along which it can be moved laterally.
Preferably the handling apparatus further comprises at least one pair of jaws for gripping an elongate member to be handled, said pair of jaws being operable between a more open configuration and a more closed configuration by a driven member moveable between a first position and a second position, wherein the relative motion of the jaws between the more open configuration and the more closed configuration is substantially in a plane, and the direction of movement of the driven member between the first and second positions is substantially perpendicular to said plane.
It will be understood that the base unit may include two or more parts without departing from the scope of the invention. For example providing first and second parts which might be considered to be separate base units, with a first elongate support coupled to the "first" base unit and a second elongate support coupled to the "second"
base unit is an option that should be considered to fall within the scope of the first and second aspects, and of the claims relating to these aspects.
According to a third aspect of the present invention there is provided a handling apparatus which includes at least one pair of jaws for gripping an elongate member to be handled;
wherein said at least one pair of jaws are operable between a more open configuration and a more closed configuration by a driven member which can be moved between a first position and a second position;
and wherein the jaws operate substantially in a plane, and the direction of movement of the driven member between the first position and the second position is substantially perpendicular to said plane.
Preferably the handling apparatus comprises at least two pairs of jaws.
Preferably said at least two pairs of jaws operate in substantially parallel planes.
Preferably the driven member is connected to at least one jaw of a pair of jaws by a link assembly.
The driven member may be driven by fluid pressure.
The driven member may be part of a piston assembly.
The driven member may be part of a hydraulic piston assembly.
. CA 02508157 2005-05-25 _ g The axis of the piston is preferably substantially perpendicular to the plane in which the jaws operate.
The link assembly preferably connects the driven member to each of the jaws of a pair of jaws.
The link assembly is preferably arranged so that as the part of the driven member which is attached to the link assembly is moved away from the plane of the jaws, at least one part of the link assembly is drawn towards a centreline of the jaw assembly. Thus the jaws may be forced together.
BRIEF DESCRIPTION OF THE DRAWINGS
Preferred embodiments of aspects of the present invention will now be described, by way of example only, with reference to the accompanying drawings, in which:
Figure 1 is a side view of a handling apparatus, in the form of a drill rod handler, in a first positions Figure 2 is a side view of the drill rod handler of Figure 1 positioned to take a drill rod from an inclined masts Figure 3 is an enlargement showing the drill rod handler as shown in Figure 2;
Figure 4 is a side view of the drill rod handler of Figures 1 to 3 stacking a first drill rod in a rod stacking frames Figure 5 is an enlargement of the drill rod handler as shown in Figure 4f Figure 6 is a side view of the drill rod handler of Figures 1 to 5 stacking a rod in a stacking frame which is almost fullf Figure 7 is an enlargement of the drill rod handler as shown in Figure 6f Figure 8 is a side view of the drill rod handler arraaged and positioned to pick up a substantially horizontal drill rods Figure 9 is a side view corresponding to a short time after the rod handler of Figure 8 has picked up the _ g _ drill rod, illustrating how the handler and rod have moved:
Figure 10 is a side view corresponding to a short time after the position shown in Figure 9 has occurred, and illustrating the handler having moved the drill rod to a vertical orientation for loading into a rotation head;
Figure 11 is an enlargement of the drill rod handler as shown in Fig. lOt Figure 12 is a side view of a drill rod handler about to be used for taking drill rods from a vertical mast and placing them in a rod stacking frame;
Figure 13 is a side view of the drill rod handler engaging a vertical drill rod at a vertical masts Figure 14 is an enlargement of the drill rod handler as shown in Figure 13;
Figure 15 is a side view of the drill rod handler having moved a drill rod from the vertical mast to an empty rod stacking frame:
Figure 16 is an enlargement of the drill rod handler as shown in Figure 15;
Figure 17 is a side view of the drill rod handler placing a drill rod in the frame shown in Figure 15, when the frame is almost full;
Figure 18 is an enlargement of the drill rod handler as shown in Figure 17;
Figure 19 is a side elevation of part of a handling apparatus, in the form of a drill rod handler, showing a retaining mechanism including two pairs of jaws for gripping a drill rods Figure 20a is a plan view of a pair of jaws, and corresponding operating mechanism, of the mechanism of Figure 19 in an open configuration;
Figure 20b is a side view of the operating mechanism for the jaws in the configuration shown in Figure 20a;
Figure 21a is a plan view of a pair of jaws and corresponding operating mechanism in a more closed configuration: and Figure 21b is a side view of the operating mechanism for the jaws in the configuration shown in Figure 21a.
DETAILED DESCRIPTION OF EMBODIMENTS
With reference to the drawings, a preferred embodiment of a handling apparatus in the form of a drill rod handler, generally designated 100, is illustrated in Figures 1 to 7 in a configuration suitable for, and in the stages of taking drill rods 70 (one at a time) from an inclined mast 75 and stacking the drill rods in a rod stacking frame 80.
As shown in Figures 1 to 8, and with particular reference to Figure 1, the drill rod handler 100 comprises a base 102 and first and second support members in the form of respective first and second arms 104, 204. The arms 104, 204 are pivotally attached to the base 102 at their respective first ands 106, 206 and are pivotally attached to a first link in the form of an elevator frame 110, at their respective second ends 108, 208. The pivotal attachments of the arms 104, 204 are spaced apart appropriately, and the arms 104, 204 are dimensioned so that the arms remain parallel in use, and consequently the orientation of the elevator frame 110 remains constant in use, irrespective of changes in the angle of elevation of the arms 104,204.
Providing two parallel arms provides greater load bearing capacity than would a single arm, and allows long rods to be handled.
The arms 104, 204 can be moved by a driving mechanism in the form of first and second hydraulic cylinders 120, 130. The first hydraulic cylinder is pivotally attached to the base 102 at a first end 122 thereof and is pivotally attached to a first end 142 of a floating support 140 at the second end 124 of the first hydraulic cylinder 120. The first end 132 of the second hydraulic cylinder 130 is attached to the first end 142 of the floatiag support 140, and the second end 134 of the second hydraulic cylinder 130 is attached to the first arm 104. The second end 144 of the floating support 140 is pivotally attached to the base 102. Retracting of one or both of the hydraulic cylinders 120, 130 pulls the arms 104, 204 and elevator frame 110 into a more elevated position, so that the elevator frame is laterally relatively close to the base 102.
The elevator frame 110 is pivotally attached to a second link member in the form of a loader tilt arm 150, by a pivot arrangement 152. However, as illustrated in Figures 1 to 8, the elevator frame 110 and the loader tilt arm 150 caa be prevented from relative pivotal movement by insertion of a locking insert pin 154 which passes through coaxially aligned apertures in the elevator frame 110 and the loader tilt arm 150.
The loader tilt arm 150 is pivotally attached to an elongate frame in the form of a loader head frame 160.
The loader head frame is provided with first and second sets of jaws 162, 164, which are spaced apart by a spacer 166. A head cylinder 168 is operable to move the spacer 166 and jaws 162, 164 along the loader head frame 160.
A third hydraulic cylinder 170 is provided for driving relative pivotal movement of the elevator frame 110 and the loader tilt arm 150 (although it cannot be effectively operated while the locking insert pin 154 is in position).
A fourth hydraulic cylinder 180 is provided to drive relative pivotal movement of the loader tilt arm 150 and the loader head frame 160.
As the orientation of the elevator frame 110 (in the plane of the arms 104,204) is constant during use, when the locking insert pin 154 is in position, the orientation of the loader tilt arm 150 is also constant, so the orientation of the loader head frame 160 can be determined by the fourth cylinder 180 which can control the orientation of the loader head frame relative to the loader tilt arm 150. Adjustable stops or rotation limiters 182, 184 are provided on the loader tilt arm 150 to allow desired extremes of orientation of the loader head frame 160 to be preset prior to use of the rod handler 100.
As shown in Figures 2 to 7, the rod handler 100 can be used to take rods from an inclined mast 75 of any of a wide range of angles of inclination - about 45 degrees to 90 degrees for the illustrated embodiment - and place them in the rod stacking frame 80.
The base 102 is pivotable about a vertical axis by a hydraulic motor 190 and is moveable laterally along a track structure 193 upon which it is mounted, by a transverse motor 195, so as to be able to allow the rod handler to access both the mast 75 and the rod stacking frame 80.
As shown in Figures 1 and 4 to 7 the fourth cylinder 180 is retracted so that the loader head 160 comes into contact with the stop 182 which is adjusted prior to use to provide the correct orientation of the loader head 160 to stack a rod in a stacking frame with a given known racking angle.
As shown best in Figures 2 and 3 the fourth cylinder 180 can be extended so that the loader head 160 comes into contact with the stop 184 which is adjusted prior to use to provide the correct orientation of the loader head 160 to correspond to the orientation of the mast 75.
Use of the adjustable stops 182,184 thus allows rods 70 to be moved between a mast 75 and a stacking frame 80 without requiring an operator to exercise great skill in orienting the loader head to the correct rod orientation for each rod.
Although as shown in Figures 1 to 7, the orientation of, for example, the loader tilt arm 150 remains constant, it will be appreciated that its elevation changes as the orientation of the arms 104 varies. This can be compensated by using the head _ CA 02508157 2005-05-25 cylinder 168 to alter the elevation of the jaws 162, 164 relative to the loader head frame 160, as can be seen by a comparison of Figures 5 and 7.
Figures 8 to 11 show the rod handler 100 being used for loading drill rods 70 from a stack in which they are orientated horizontally, and operating to load them into a vertical rotation head. The important difference between this operation and the operation illustrated in Figures 1 to 7 is that in order to pick up horizontal rods the locking insert pin 154 is removed. This allows the loader tilt aran 150 to be pivoted relative to the elevator frame 110 by the third cylinder 170, providing a greater range of movement of the loader head frame 160. Apertures 150a, 110a which were (as illustrated in Figures 1 to 7) held together by the insert locking pin 154, have bean moved apart as shown in Figure 8.
The operations involved in loading drill rods 70 from a stack in which they are orientated horizontally, and operating to load them into a vertically orientated rotation head are illustrated by and explained with reference to Figures 8 to 11. It is perhaps worth noting that because the fourth cylinder 180 can be locked in a predetermined position (using needle valves in a preferred embodiment), the loader head frame 160 is locked in a predetermined position relative to the loader tilt arm 150, and orientation of the loader head frame 160 and rod 70 are determined by operation of the third cylinder 170.
As shown in Figure 8, the third cylinder 170 is retracted, corresponding to the loader head frame 160 being in a horizontal orientation.
As shown in Figure 9 the third cylinder is partially extended to rotate the loader head frame 160 into an inclined orientation, and at the same time the first and second cylinders 120,130 are retracted to elevate the elevator frame 110, loader tilt arm 150 and loader head frame 160.
As shown in Figures 10 and 11, the motor 190 _ CA 02508157 2005-05-25 rotates the arms 104,204, elevator frame 110, loader tilt arm 150 and head frame 160, typically 180 degrees about a vertical axis to move the rod 70 to the mast.
Simultaneously the third cylinder continues to extend, until (in this example) the drill rod 70 is vertical, sad the first and second cylinders 120,130 continue to retract to elevate the rod and adjust the horizontal distance between the rod 70 and the base 102.
As shown in Figure 11 the rod 70 can be lowered by operation of the head cylinder 168.
Figures 12 to 18 show the rod handler 100 being used for taking rods from a vertical mast 75a and placing them in a rod stacking frame 80. Similarly to the situation shown in Figures 1 to 7, the insert locking pin 154 is used to pivotally lock the loader tilt arm 150 and the elevator frame 110, and prevent operation of the third cylinder 170. The upper stop 182 can be used to preset the vertical rod position, and the lower stop 184 to preset the angle for racking. The operations involved in taking rods from a vertical mast and placing them in a rod stacking frame are illustrated by and explained with reference to Figures 12 to 18.
The operations are not dissimilar from those described with reference to Figure 1 to 8. Figure 12 shows the rod handler 100 in the same configuration as in Figures 15 and 16, but, for clarity, without the vertical mast 75a or rod stacking frame 80.
With reference to Figures 13 and 14 the fourth cylinder 180 is retracted until the loader head frame 160 (and the rod 70) is vertical, a position which is determined by previous adjustment of upper stop 182. This orients the loader head frame for removal of a rod 70 from the vertical mast 75a.
As shown in Figures 12, 15 and 16, the fourth cylinder 180 is extended until the loader head frame 160 contacts the lower stop 184, which has been preset to give the correct angle for racking.
The transverse motor 195 is used to move the rod handler 100 between the mast and the rod stacking frame 80.
It will be appreciated from the description above how operation of the first and second cylinders 120,130 and head cylinder 168 effects the elevation and reach of the arms 104,204, loader head frame 160 and rod 170, so that the rod handler can stack rods 70 onto a rod stacking frame which is empty (as in Figures 15 and 16) or substantially full (as in Figures 17 and 18).
Figure 19 shows the loader head frame 160, head cylinder 168, and jaws 162, 164 in more detail.
Figures 20a to 21b illustrate how the jaws 162 are operated. The jaw arrangement 162 is designed to be compact in order to allow access to rods when, for example, there is a rod close to either side of the rod it is desired to pick up using the jaws 162.
Each of the first and second jaw elements 220, 240 of the pair of jaws is mounted to a respective first or second jaw holder 228, 248, by jaw pins 222. This allows easy replacement of the vulnerable jaw elements 220, 240. Each jaw holder 228, 248 is pivotably mounted to a mounting plate 227, via an insert 230, such that pivoting of the jaw holders 228, 248 allows the jaws to open or close. The jaws are operable by a hydraulic cylinder 201 which passes between the jaw holders 228, 248, in order to provide a compact configuration. The hydraulic cylinder 201 is attached at each of its ends 202 to a pair of plate links 209, and respective first and second plate links 209 of each pair are attached to the first and second jaw holders 228, 248. When the cylinder 201 is extended, or stroked out, as shown in Figures 21a and 21b, the distal ends of the first and second plate links 209 of each pair are forced away from each other, and the ends of the plate links 209 which are attached to first and second jaw holders 228, 248 are consequently pulled in towards the axis of the cylinder 201, thus clamping the jaws. It is desirable to have the cylinder aligned substantially perpendicular to the plane of the jaws is order to keep the jaw arrangement compact and help avoid the cylinder obstructing access by the jaws to objects to be grasped. In order to balance forces within the mechanism, the cylinder 201 is able to float through bushes 232 provided in the mounting plate 227. The cylinder contains a spring to bias it to its extended position, so the jaws are closed, or kept closed is the event of a hydraulics failure. It will be appreciated that hydraulic retraction of the cylinder, as shown in Figures 20a and 20b, will cause the jaws to open allowing release of as object held.
It will be appreciated that is some contexts (such as, for example, the following claim 1) the head assembly may be considered to include the loader tilt arm 150 and the elevator frame 110 or links that have at least some functions in common with those elements.
This application is associated with Australian Provisional Application No. 2004903011 the entire disclosure of which is hereby incorporated herein by reference .
Modification sad improvements may be made to the described embodiments without departing from the scope of the invention as claimed.
It is to be understood that, if any prior art publication is referred to herein, such reference does not constitute as admission that the publication forma a part of the common general knowledge is the art, in Australia or in any other country.
In the claims which follow and in the preceding description of the invention, except where the context requires otherwise due to express language or necessary implication, the word "comprise" or variations such as "comprises" or "comprising" is used in an inclusive sense, i.e. to specify the presence of the stated features but not to preclude the presence or addition of further . __~_ _ rT__ __ features in various embodiments of the invention.
The said adjacent portions of the first and second links may define respective apertures.
The locking member may be adapted to be retained in said apertures.
The apparatus preferably further comprises a support driving mechanism for forcing relative pivotal movement of the at least one support and the base unit.
The apparatus preferably further comprises a retaining-mechanism driving mechanism for forcing relative pivotal movement of the retaining mechanism relative to the support.
The retaining-mechanism driving mechanism preferably comprises a first driving element for forcing relative pivotal movement of the second link relative to the first link, and a second driving element for forcing relative pivotal movement of the retaining mechanism relative to the second link.
The driving mechanisms and/or driving elements preferably comprise hydraulic pistons. However, as an alternative, other driving mechanisms or elements could be used as one or more driving mechanisms and/or elements.
The retaining mechanism preferably comprises an elongate frame.
Preferably, in use, the elongate frame is adapted to be at a fixed angle relative to an elongate member being retained by the retaining mechanism.
Preferably, in use, the elongate frame is adapted to be substantially parallel to an elongate member being retained by the retaining mechanism.
In a preferred embodiment which includes first and second supports, adapted to remain substantially mutually parallel, the second link may be pivotally locked relative to the first link, and the orientation of the first link is maintained constant during pivoting of the . CA 02508157 2005-05-25 support members due to the four-bar linkage formed by the base unit, support members and first link. This means that the orientation of the second link is constant even when the second link, and the retaining mechanism, are being moved laterally relative to the base unit. Thus, the orientation of the elongate frame of the retaining mechanism is determined by the relative orientation of the elongate frame and the second link. Thus one or more stops or limiters may be provided on the second link to define the extremes of the orientation of the elongate frame. This can be of considerable utility since in, for example, a situation where elongate members are to be picked up from a rack where they are to be provided by the apparatus at 30 degrees to the vertical, the steps or limiters can be sat to define appropriate angles of the elongate frame. This helps eliminate operator error and greatly facilitates handling elongate members.
In a preferred embodiment at least one pair of jaws is provided to grip elongate members.
The jaws are preferably moveable parallel to the elongate frame. This allows proper positioning of elongate members in, for example, a preferred embodiment in which the height at which the elongate frame is positioned varies as the elongate frame is moved laterally towards or away from the base unit.
Preferably the base unit is rotatable.
Preferably the base unit is rotatable about a substantially vertical axis.
Preferably the base unit is provided with a frame or track along which it can be moved laterally.
Preferably the handling apparatus further comprises at least one pair of jaws for gripping an elongate member to be handled, said pair of jaws being operable between a more open configuration and a more closed configuration by a driven member moveable between a first position and a second position, wherein the relative motion of the jaws between the more open configuration and the more closed configuration is substantially in a plane, and the direction of movement of the driven member between the first and second positions is substantially perpendicular to said plane.
It will be understood that the base unit may include two or more parts without departing from the scope of the invention. For example providing first and second parts which might be considered to be separate base units, with a first elongate support coupled to the "first" base unit and a second elongate support coupled to the "second"
base unit is an option that should be considered to fall within the scope of the first and second aspects, and of the claims relating to these aspects.
According to a third aspect of the present invention there is provided a handling apparatus which includes at least one pair of jaws for gripping an elongate member to be handled;
wherein said at least one pair of jaws are operable between a more open configuration and a more closed configuration by a driven member which can be moved between a first position and a second position;
and wherein the jaws operate substantially in a plane, and the direction of movement of the driven member between the first position and the second position is substantially perpendicular to said plane.
Preferably the handling apparatus comprises at least two pairs of jaws.
Preferably said at least two pairs of jaws operate in substantially parallel planes.
Preferably the driven member is connected to at least one jaw of a pair of jaws by a link assembly.
The driven member may be driven by fluid pressure.
The driven member may be part of a piston assembly.
The driven member may be part of a hydraulic piston assembly.
. CA 02508157 2005-05-25 _ g The axis of the piston is preferably substantially perpendicular to the plane in which the jaws operate.
The link assembly preferably connects the driven member to each of the jaws of a pair of jaws.
The link assembly is preferably arranged so that as the part of the driven member which is attached to the link assembly is moved away from the plane of the jaws, at least one part of the link assembly is drawn towards a centreline of the jaw assembly. Thus the jaws may be forced together.
BRIEF DESCRIPTION OF THE DRAWINGS
Preferred embodiments of aspects of the present invention will now be described, by way of example only, with reference to the accompanying drawings, in which:
Figure 1 is a side view of a handling apparatus, in the form of a drill rod handler, in a first positions Figure 2 is a side view of the drill rod handler of Figure 1 positioned to take a drill rod from an inclined masts Figure 3 is an enlargement showing the drill rod handler as shown in Figure 2;
Figure 4 is a side view of the drill rod handler of Figures 1 to 3 stacking a first drill rod in a rod stacking frames Figure 5 is an enlargement of the drill rod handler as shown in Figure 4f Figure 6 is a side view of the drill rod handler of Figures 1 to 5 stacking a rod in a stacking frame which is almost fullf Figure 7 is an enlargement of the drill rod handler as shown in Figure 6f Figure 8 is a side view of the drill rod handler arraaged and positioned to pick up a substantially horizontal drill rods Figure 9 is a side view corresponding to a short time after the rod handler of Figure 8 has picked up the _ g _ drill rod, illustrating how the handler and rod have moved:
Figure 10 is a side view corresponding to a short time after the position shown in Figure 9 has occurred, and illustrating the handler having moved the drill rod to a vertical orientation for loading into a rotation head;
Figure 11 is an enlargement of the drill rod handler as shown in Fig. lOt Figure 12 is a side view of a drill rod handler about to be used for taking drill rods from a vertical mast and placing them in a rod stacking frame;
Figure 13 is a side view of the drill rod handler engaging a vertical drill rod at a vertical masts Figure 14 is an enlargement of the drill rod handler as shown in Figure 13;
Figure 15 is a side view of the drill rod handler having moved a drill rod from the vertical mast to an empty rod stacking frame:
Figure 16 is an enlargement of the drill rod handler as shown in Figure 15;
Figure 17 is a side view of the drill rod handler placing a drill rod in the frame shown in Figure 15, when the frame is almost full;
Figure 18 is an enlargement of the drill rod handler as shown in Figure 17;
Figure 19 is a side elevation of part of a handling apparatus, in the form of a drill rod handler, showing a retaining mechanism including two pairs of jaws for gripping a drill rods Figure 20a is a plan view of a pair of jaws, and corresponding operating mechanism, of the mechanism of Figure 19 in an open configuration;
Figure 20b is a side view of the operating mechanism for the jaws in the configuration shown in Figure 20a;
Figure 21a is a plan view of a pair of jaws and corresponding operating mechanism in a more closed configuration: and Figure 21b is a side view of the operating mechanism for the jaws in the configuration shown in Figure 21a.
DETAILED DESCRIPTION OF EMBODIMENTS
With reference to the drawings, a preferred embodiment of a handling apparatus in the form of a drill rod handler, generally designated 100, is illustrated in Figures 1 to 7 in a configuration suitable for, and in the stages of taking drill rods 70 (one at a time) from an inclined mast 75 and stacking the drill rods in a rod stacking frame 80.
As shown in Figures 1 to 8, and with particular reference to Figure 1, the drill rod handler 100 comprises a base 102 and first and second support members in the form of respective first and second arms 104, 204. The arms 104, 204 are pivotally attached to the base 102 at their respective first ands 106, 206 and are pivotally attached to a first link in the form of an elevator frame 110, at their respective second ends 108, 208. The pivotal attachments of the arms 104, 204 are spaced apart appropriately, and the arms 104, 204 are dimensioned so that the arms remain parallel in use, and consequently the orientation of the elevator frame 110 remains constant in use, irrespective of changes in the angle of elevation of the arms 104,204.
Providing two parallel arms provides greater load bearing capacity than would a single arm, and allows long rods to be handled.
The arms 104, 204 can be moved by a driving mechanism in the form of first and second hydraulic cylinders 120, 130. The first hydraulic cylinder is pivotally attached to the base 102 at a first end 122 thereof and is pivotally attached to a first end 142 of a floating support 140 at the second end 124 of the first hydraulic cylinder 120. The first end 132 of the second hydraulic cylinder 130 is attached to the first end 142 of the floatiag support 140, and the second end 134 of the second hydraulic cylinder 130 is attached to the first arm 104. The second end 144 of the floating support 140 is pivotally attached to the base 102. Retracting of one or both of the hydraulic cylinders 120, 130 pulls the arms 104, 204 and elevator frame 110 into a more elevated position, so that the elevator frame is laterally relatively close to the base 102.
The elevator frame 110 is pivotally attached to a second link member in the form of a loader tilt arm 150, by a pivot arrangement 152. However, as illustrated in Figures 1 to 8, the elevator frame 110 and the loader tilt arm 150 caa be prevented from relative pivotal movement by insertion of a locking insert pin 154 which passes through coaxially aligned apertures in the elevator frame 110 and the loader tilt arm 150.
The loader tilt arm 150 is pivotally attached to an elongate frame in the form of a loader head frame 160.
The loader head frame is provided with first and second sets of jaws 162, 164, which are spaced apart by a spacer 166. A head cylinder 168 is operable to move the spacer 166 and jaws 162, 164 along the loader head frame 160.
A third hydraulic cylinder 170 is provided for driving relative pivotal movement of the elevator frame 110 and the loader tilt arm 150 (although it cannot be effectively operated while the locking insert pin 154 is in position).
A fourth hydraulic cylinder 180 is provided to drive relative pivotal movement of the loader tilt arm 150 and the loader head frame 160.
As the orientation of the elevator frame 110 (in the plane of the arms 104,204) is constant during use, when the locking insert pin 154 is in position, the orientation of the loader tilt arm 150 is also constant, so the orientation of the loader head frame 160 can be determined by the fourth cylinder 180 which can control the orientation of the loader head frame relative to the loader tilt arm 150. Adjustable stops or rotation limiters 182, 184 are provided on the loader tilt arm 150 to allow desired extremes of orientation of the loader head frame 160 to be preset prior to use of the rod handler 100.
As shown in Figures 2 to 7, the rod handler 100 can be used to take rods from an inclined mast 75 of any of a wide range of angles of inclination - about 45 degrees to 90 degrees for the illustrated embodiment - and place them in the rod stacking frame 80.
The base 102 is pivotable about a vertical axis by a hydraulic motor 190 and is moveable laterally along a track structure 193 upon which it is mounted, by a transverse motor 195, so as to be able to allow the rod handler to access both the mast 75 and the rod stacking frame 80.
As shown in Figures 1 and 4 to 7 the fourth cylinder 180 is retracted so that the loader head 160 comes into contact with the stop 182 which is adjusted prior to use to provide the correct orientation of the loader head 160 to stack a rod in a stacking frame with a given known racking angle.
As shown best in Figures 2 and 3 the fourth cylinder 180 can be extended so that the loader head 160 comes into contact with the stop 184 which is adjusted prior to use to provide the correct orientation of the loader head 160 to correspond to the orientation of the mast 75.
Use of the adjustable stops 182,184 thus allows rods 70 to be moved between a mast 75 and a stacking frame 80 without requiring an operator to exercise great skill in orienting the loader head to the correct rod orientation for each rod.
Although as shown in Figures 1 to 7, the orientation of, for example, the loader tilt arm 150 remains constant, it will be appreciated that its elevation changes as the orientation of the arms 104 varies. This can be compensated by using the head _ CA 02508157 2005-05-25 cylinder 168 to alter the elevation of the jaws 162, 164 relative to the loader head frame 160, as can be seen by a comparison of Figures 5 and 7.
Figures 8 to 11 show the rod handler 100 being used for loading drill rods 70 from a stack in which they are orientated horizontally, and operating to load them into a vertical rotation head. The important difference between this operation and the operation illustrated in Figures 1 to 7 is that in order to pick up horizontal rods the locking insert pin 154 is removed. This allows the loader tilt aran 150 to be pivoted relative to the elevator frame 110 by the third cylinder 170, providing a greater range of movement of the loader head frame 160. Apertures 150a, 110a which were (as illustrated in Figures 1 to 7) held together by the insert locking pin 154, have bean moved apart as shown in Figure 8.
The operations involved in loading drill rods 70 from a stack in which they are orientated horizontally, and operating to load them into a vertically orientated rotation head are illustrated by and explained with reference to Figures 8 to 11. It is perhaps worth noting that because the fourth cylinder 180 can be locked in a predetermined position (using needle valves in a preferred embodiment), the loader head frame 160 is locked in a predetermined position relative to the loader tilt arm 150, and orientation of the loader head frame 160 and rod 70 are determined by operation of the third cylinder 170.
As shown in Figure 8, the third cylinder 170 is retracted, corresponding to the loader head frame 160 being in a horizontal orientation.
As shown in Figure 9 the third cylinder is partially extended to rotate the loader head frame 160 into an inclined orientation, and at the same time the first and second cylinders 120,130 are retracted to elevate the elevator frame 110, loader tilt arm 150 and loader head frame 160.
As shown in Figures 10 and 11, the motor 190 _ CA 02508157 2005-05-25 rotates the arms 104,204, elevator frame 110, loader tilt arm 150 and head frame 160, typically 180 degrees about a vertical axis to move the rod 70 to the mast.
Simultaneously the third cylinder continues to extend, until (in this example) the drill rod 70 is vertical, sad the first and second cylinders 120,130 continue to retract to elevate the rod and adjust the horizontal distance between the rod 70 and the base 102.
As shown in Figure 11 the rod 70 can be lowered by operation of the head cylinder 168.
Figures 12 to 18 show the rod handler 100 being used for taking rods from a vertical mast 75a and placing them in a rod stacking frame 80. Similarly to the situation shown in Figures 1 to 7, the insert locking pin 154 is used to pivotally lock the loader tilt arm 150 and the elevator frame 110, and prevent operation of the third cylinder 170. The upper stop 182 can be used to preset the vertical rod position, and the lower stop 184 to preset the angle for racking. The operations involved in taking rods from a vertical mast and placing them in a rod stacking frame are illustrated by and explained with reference to Figures 12 to 18.
The operations are not dissimilar from those described with reference to Figure 1 to 8. Figure 12 shows the rod handler 100 in the same configuration as in Figures 15 and 16, but, for clarity, without the vertical mast 75a or rod stacking frame 80.
With reference to Figures 13 and 14 the fourth cylinder 180 is retracted until the loader head frame 160 (and the rod 70) is vertical, a position which is determined by previous adjustment of upper stop 182. This orients the loader head frame for removal of a rod 70 from the vertical mast 75a.
As shown in Figures 12, 15 and 16, the fourth cylinder 180 is extended until the loader head frame 160 contacts the lower stop 184, which has been preset to give the correct angle for racking.
The transverse motor 195 is used to move the rod handler 100 between the mast and the rod stacking frame 80.
It will be appreciated from the description above how operation of the first and second cylinders 120,130 and head cylinder 168 effects the elevation and reach of the arms 104,204, loader head frame 160 and rod 170, so that the rod handler can stack rods 70 onto a rod stacking frame which is empty (as in Figures 15 and 16) or substantially full (as in Figures 17 and 18).
Figure 19 shows the loader head frame 160, head cylinder 168, and jaws 162, 164 in more detail.
Figures 20a to 21b illustrate how the jaws 162 are operated. The jaw arrangement 162 is designed to be compact in order to allow access to rods when, for example, there is a rod close to either side of the rod it is desired to pick up using the jaws 162.
Each of the first and second jaw elements 220, 240 of the pair of jaws is mounted to a respective first or second jaw holder 228, 248, by jaw pins 222. This allows easy replacement of the vulnerable jaw elements 220, 240. Each jaw holder 228, 248 is pivotably mounted to a mounting plate 227, via an insert 230, such that pivoting of the jaw holders 228, 248 allows the jaws to open or close. The jaws are operable by a hydraulic cylinder 201 which passes between the jaw holders 228, 248, in order to provide a compact configuration. The hydraulic cylinder 201 is attached at each of its ends 202 to a pair of plate links 209, and respective first and second plate links 209 of each pair are attached to the first and second jaw holders 228, 248. When the cylinder 201 is extended, or stroked out, as shown in Figures 21a and 21b, the distal ends of the first and second plate links 209 of each pair are forced away from each other, and the ends of the plate links 209 which are attached to first and second jaw holders 228, 248 are consequently pulled in towards the axis of the cylinder 201, thus clamping the jaws. It is desirable to have the cylinder aligned substantially perpendicular to the plane of the jaws is order to keep the jaw arrangement compact and help avoid the cylinder obstructing access by the jaws to objects to be grasped. In order to balance forces within the mechanism, the cylinder 201 is able to float through bushes 232 provided in the mounting plate 227. The cylinder contains a spring to bias it to its extended position, so the jaws are closed, or kept closed is the event of a hydraulics failure. It will be appreciated that hydraulic retraction of the cylinder, as shown in Figures 20a and 20b, will cause the jaws to open allowing release of as object held.
It will be appreciated that is some contexts (such as, for example, the following claim 1) the head assembly may be considered to include the loader tilt arm 150 and the elevator frame 110 or links that have at least some functions in common with those elements.
This application is associated with Australian Provisional Application No. 2004903011 the entire disclosure of which is hereby incorporated herein by reference .
Modification sad improvements may be made to the described embodiments without departing from the scope of the invention as claimed.
It is to be understood that, if any prior art publication is referred to herein, such reference does not constitute as admission that the publication forma a part of the common general knowledge is the art, in Australia or in any other country.
In the claims which follow and in the preceding description of the invention, except where the context requires otherwise due to express language or necessary implication, the word "comprise" or variations such as "comprises" or "comprising" is used in an inclusive sense, i.e. to specify the presence of the stated features but not to preclude the presence or addition of further . __~_ _ rT__ __ features in various embodiments of the invention.
Claims (30)
1. A handling apparatus comprising:
a base unit;
a first elongate support pivotally coupled at a first end to the base unit;
a second elongate support pivotally coupled at a first end to the base units a head assembly for releasably retaining an elongate member, said head assembly being supported, in use, by the first and second elongate supports;
wherein the first and second elongate supports are pivotally coupled to the head assembly at respective second ends thereof; and whereby the first and second elongate supports can pivot relative to the base unit whilst remaining substantially mutually parallel with at least part of the head unit maintained in a substantially constant orientation.
a base unit;
a first elongate support pivotally coupled at a first end to the base unit;
a second elongate support pivotally coupled at a first end to the base units a head assembly for releasably retaining an elongate member, said head assembly being supported, in use, by the first and second elongate supports;
wherein the first and second elongate supports are pivotally coupled to the head assembly at respective second ends thereof; and whereby the first and second elongate supports can pivot relative to the base unit whilst remaining substantially mutually parallel with at least part of the head unit maintained in a substantially constant orientation.
2. A handling apparatus as claimed in claim 1 wherein the first and second supports are substantially co-planar.
3. A handling apparatus as claimed in either preceding claims wherein the first and second supports are, in use, provided in a substantially vertical plane.
4. A handling apparatus as claimed in any preceding claim wherein there is provided a driving mechanism for forcing the first and second supports to pivot relative to the base unit.
5. A handling apparatus as claimed in claim 4 wherein the driving mechanism can force one of the first and second supports, which in turn forces the other support.
6. A handling apparatus as claimed in any preceding claim wherein the head assembly comprises a first head portion which is pivotally coupled to the second ands of the first and second supports.
7. A handling apparatus as claimed in claim 6 wherein the head assembly further comprises a second head portion which is selectively orientable relative to the first head portion.
8. A handling apparatus as claimed in claim 7 wherein there is provided a driving mechanism for orientating the second head portion relative to the first head portion.
9. A handling apparatus as claimed in either of claims 7 or 8 wherein the second head portion supports one or more clamping mechanisms for clamping onto as elongate member.
10. A handling apparatus as claimed in claim 9 wherein the one or each clamping mechanism comprises a pair of jaws.
11. A handling apparatus as claimed in any preceding claim wherein the handling apparatus is for handling elongate members which are drill rods.
12. A handling apparatus as claimed in any preceding claim wherein the handling apparatus comprises at least one pair of jaws for gripping an elongate member to be handled, said pair of jaws being operable between a more open configuration and a more closed configuration by a driven member moveable between a first position and a second position, wherein the relative motion of the jaws between the more open configuration and the more closed configuration is substantially in a plane, and the direction of movement of the driven member between the first and second positions is substantially perpendicular to said plane.
13. A handling apparatus for handling elongate members comprising:
a base unit;
at least one support member extending from the base unit, the at least one support member being pivotally attached to the base unit towards a first end of said at least one support member; and a head assembly comprising a retaining mechanism for releasably retaining elongate members;
wherein the head assembly includes a first link for attachment between the at least one support member and the retaining mechanism, said first link being pivotably coupled with respect to the retaining mechanism and the at least one support member.
a base unit;
at least one support member extending from the base unit, the at least one support member being pivotally attached to the base unit towards a first end of said at least one support member; and a head assembly comprising a retaining mechanism for releasably retaining elongate members;
wherein the head assembly includes a first link for attachment between the at least one support member and the retaining mechanism, said first link being pivotably coupled with respect to the retaining mechanism and the at least one support member.
14. A handling apparatus as claimed in claim 13 wherein the handling apparatus further comprises a second link between the first link and the retaining mechanism, said second link being pivotally coupled to the first link and the retaining mechanism.
15. A handling apparatus as claimed in either of claims 13 or 14 wherein there are provided at least two support members, each pivotally coupled to the base unit and each pivotally coupled to the first link member.
16. A handling apparatus as claimed in claim 15 wherein the at least two support members are arranged to remain substantially mutually parallel during use of the apparatus.
17. A handling apparatus as claimed in claim 14 wherein a locking mechanism for preventing pivotal movement of the second link relative to the first link is provided.
18. A handling apparatus as claimed in claim 17 wherein the locking mechanism comprises a locking member adapted to prevent relative movement of adjacent portions of the first and second links.
19. A handling apparatus as claimed in any of claims 13 to 18 wherein the apparatus further comprises a support driving mechanism for forcing relative pivotal movement of the at least one support and the base unit.
20. A handling apparatus as claimed is any of claims 14 to 19 wherein the apparatus further comprises a retaining-mechanism driving mechanism for forcing relative pivotal movement of the retaining mechanism relative to the support.
21. A handling apparatus as claimed in claim 20 wherein the retaining-mechanism driving mechanism comprises a first driving element for forcing relative pivotal movement of the second link relative to the first link, and a second driving element for forcing relative pivotal movement of the retaining mechanism relative to the second link.
22. A handling apparatus as claimed is any of claims 13 to 21 wherein at least one pair of jaws is provided to grip elongate members.
23. A handling apparatus as claimed is any of claims 13 to 22 wherein the base unit is rotatable about a substantially vertical axis.
24. A handling apparatus as claimed is any of claims 13 to 23 wherein the base unit is provided with a frame or track along which it can be moved laterally.
25. A handling apparatus as claimed is any of claims 13 to 24 wherein the handling apparatus further comprises at least one pair of jaws for gripping as elongate member to be handled, said pair of jaws being operable between a more open configuration and a more closed configuration by a driven member moveable between a first position and a second position, wherein the relative motion of the jaws between the more open configuration and the more closed configuration is substantially is a plane, and the direction of movement of the driven member between the first and second positions is substantially perpendicular to said plane.
26. A handling apparatus which includes at least one pair of jaws for gripping as elongate member to be handled;
wherein said at least one pair of jaws is operable between a more open configuration and a more closed configuration by a driven member which can be moved between a first position and a second positions and wherein the jaws operate substantially in a plane, and the direction of movement of the driven member between the first position and the second position is substantially perpendicular to said plane.
wherein said at least one pair of jaws is operable between a more open configuration and a more closed configuration by a driven member which can be moved between a first position and a second positions and wherein the jaws operate substantially in a plane, and the direction of movement of the driven member between the first position and the second position is substantially perpendicular to said plane.
27. A handling apparatus as claimed in claim 26 wherein the handling apparatus comprises at least two pairs of jaws which operate in substantially parallel planes.
28. A handling apparatus as claimed in either of claims 26 or 27 wherein the driven member is driven by fluid pressure.
29. A handling apparatus as claimed in any of claims 26 to 28 wherein the driven member is part of a piston assembly.
30. A handling device substantially as hereinbefore described with reference to and as shown in the accompanying drawings.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| AU2004903011 | 2004-06-04 | ||
| AU2004903011A AU2004903011A0 (en) | 2004-06-04 | Handling apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA2508157A1 true CA2508157A1 (en) | 2005-12-04 |
Family
ID=35446461
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA002508157A Abandoned CA2508157A1 (en) | 2004-06-04 | 2005-05-25 | Handling apparatus |
Country Status (2)
| Country | Link |
|---|---|
| US (1) | US20050269133A1 (en) |
| CA (1) | CA2508157A1 (en) |
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| US3561615A (en) * | 1969-07-16 | 1971-02-09 | Terry A Forsberg | Pipe positioning and handling device |
| US3866485A (en) * | 1973-10-03 | 1975-02-18 | Leland F Blatt | Angular adjustment mount for a workpiece extractor |
| US4290495A (en) * | 1979-06-18 | 1981-09-22 | Hydra-Rig, Inc. | Portable workover rig with extendable mast substructure, platform mounted drawworks and adjustable wellhead anchor |
| EP0165235A1 (en) * | 1983-12-01 | 1985-12-27 | KINNAN, Frank | Method and apparatus for installing an in-ground support footing around an upstanding elongate object |
| US4595066A (en) * | 1983-12-16 | 1986-06-17 | Becor Western, Inc. | Apparatus for handling drill pipes |
| FR2603942B1 (en) * | 1986-09-15 | 1990-08-03 | Forasol | DRILLING SYSTEM |
| US5183366A (en) * | 1990-12-04 | 1993-02-02 | Longyear Company | Rod handler apparatus |
| NL9100543A (en) * | 1991-03-27 | 1992-10-16 | Vermaat Technics Bv | ROBOT FOR PERFORMING WORK IN A HEAT EXCHANGER. |
| CA2518604C (en) * | 1992-04-30 | 2008-03-25 | Dreco Energy Services Ltd. | Gripper head assembly for a pipe handling system |
| US5423390A (en) * | 1993-10-12 | 1995-06-13 | Dreco, Inc. | Pipe racker assembly |
| US5941324A (en) * | 1998-01-27 | 1999-08-24 | Schramm, Inc. | Drilling apparatus |
| AUPP009999A0 (en) * | 1999-04-28 | 1999-05-20 | Boart Longyear Pty Ltd | Drill rod handling device |
| US7070384B2 (en) * | 2003-09-12 | 2006-07-04 | General Shale Products, Llc | Apparatus and method for automatically unloading brick from kiln cars and preparation for shipment |
-
2005
- 2005-05-25 CA CA002508157A patent/CA2508157A1/en not_active Abandoned
- 2005-05-25 US US11/137,052 patent/US20050269133A1/en not_active Abandoned
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2007106999A1 (en) * | 2006-03-20 | 2007-09-27 | Tesco Corporation | Portable tubular stabbing assembly |
| US9410385B2 (en) | 2007-02-23 | 2016-08-09 | Friede Goldman United, Ltd. | Simultaneous tubular handling system |
| US10612323B2 (en) | 2007-02-23 | 2020-04-07 | Friede & Goldman United B.V. | Simultaneous tubular handling system |
Also Published As
| Publication number | Publication date |
|---|---|
| US20050269133A1 (en) | 2005-12-08 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| FZDE | Discontinued |